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Re: Self-righting
Unless you're gunning for the ramp, I don't think you seriously need to be worried about tipping. Our robot last year was unable to right itself, and it extended up to 13 feet in the air. We got hit with our robot holding tetras at least 9-10 feet in the air, and the only time we ever tipped was because another robot's arm became entangled with ours and pulled us down.
Without high extensions or wedged robots this year, tipping is one of my least worries. Those teams that took advantage of the bumpers will be in even better shape with an extra 10-15 lbs. on the bottom of their robot.
Our team hasn't experienced any problems with getting poof balls caught underneath us, but that will be an individual issue depending on what your robot's ground clearance is. Poof balls under a robot "bouncing it" onto its side would be the only way I see teams getting tipped UNLESS they go for the ramp.
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